Walking device and drill floor surface manipulator

Abstract

The invention relates to the technical field of petroleum drilling and production equipment, and provides a walking device and a drill floor manipulator, comprising: a track assembly comprising a main body track, and a bearing track and an anti-overturning track arranged on the outer side of the main body track; the pulley mechanism comprises a trolley body and a plurality of walking assemblies rotationally connected to the bottom of the trolley body; the walking assembly comprises a bearing wheel, an anti-overturning wheel and a positioning wheel; the bearing wheel is matched with the bearing track, the anti-overturning wheel is matched with the bottom of the anti-overturning track, and the positioning wheel is in rolling contact with the side part of the anti-overturning track; a rotary guide plate laid along the turning section is arranged on the rail assembly, located on the inner side of the anti-overturning wheel and used for abutting against the anti-overturning wheel to drive the walking assembly to turn. Therefore, the anti-overturning wheel abuts against the rotary guide plate for steering, the positioning wheel is used for restraining and guiding, and therefore rolling friction steering replaces extrusion steering of a traditional wheel flange structure, extrusion abrasion in the steering process is effectively avoided, the stability is improved, and the service life is prolonged.

Description

Technical Field

[0001] The invention relates to the technical field of oil drilling equipment, in particular to a walking device and a drilling table manipulator. Background Art

[0002] As global energy demand grows, the oil and gas industry continues to seek ways to improve efficiency, reduce costs and enhance operational safety. Against this background, automation and robotics technologies are gradually being introduced into drilling platforms. Among them, the drill floor manipulator, as a key automation equipment, is becoming increasingly important.

[0003] The drilling floor manipulator is an automated device specially designed to assist drilling operations. It is mainly used for the handling, connection and removal of drill pipes. It is roughly composed of three main parts: track, pulley mechanism and manipulator. The manipulator arm is installed on the pulley mechanism, and the pulley mechanism can move on the track to carry the drill pipe. In actual work, in order to avoid interference between the manipulator and power catwalks and other equipment, the track is generally set to an "L" shape to provide an avoidance zone for the manipulator. Therefore, the pulley mechanism often needs to face the problem of turning during operation.

[0004] In the related art, a wheel rim is generally provided on the outside of the load-bearing wheel, and the wheel rim is used to squeeze the outer edge of the track to achieve steering. However, the above steering method will cause serious wear of the track and the load-bearing wheel, and the steering flexibility is insufficient, and it is easy to get stuck. Summary of the invention

[0005] The present invention provides a walking device and a drilling table manipulator, which are used to solve the defects in the prior art that when the wheel rim squeezes the outer edge of the track to turn, the track and the load-bearing wheel are severely worn, the steering flexibility is insufficient, and the machine is easily stuck. The wear during the turning process can be reduced, and the operation stability and service life can be improved.

[0006] The present invention provides a walking device, comprising: A track assembly, comprising a main track, a load-bearing track and an anti-rollover track arranged outside the main track, wherein the anti-rollover track is arranged above the inner side of the load-bearing track, and the track assembly forms an arc-shaped turning section; The pulley mechanism comprises a vehicle body and a plurality of travel components rotatably connected to the bottom of the vehicle body; the travel components comprise load-bearing wheels, anti-tipping wheels and positioning wheels; the load-bearing wheels cooperate with the load-bearing track, the anti-tipping wheels cooperate with the bottom of the anti-tipping track, and the positioning wheels are in rolling contact with the side of the anti-tipping track; The track assembly is provided with a rotating guide plate laid along the turning section. The rotating guide plate is located on the inner side of the anti-tipping wheel and is used to contact with the anti-tipping wheel to drive the walking assembly to turn.

[0007] According to a walking device provided by the present invention, the edges of the anti-tipping wheels are configured as rounded corners, and / or both ends of the rotating guide plate are configured as inclined surfaces inclined toward the inner side of the turning section.

[0008] According to a walking device provided by the present invention, the walking assembly also includes a wheel frame, the load-bearing wheels and the anti-overturning wheels are rotatably connected to both sides of the wheel frame, and the positioning wheel is rotatably connected to the top of the wheel frame.

[0009] According to a traveling device provided by the present invention, at least two of the load-bearing wheels and the anti-tipping wheels are arranged at intervals along the traveling direction of the vehicle body, and the load-bearing wheels and the anti-tipping wheels are arranged in a one-to-one correspondence in the axial direction.

[0010] According to a walking device provided by the present invention, the bottom of the vehicle body is rotatably connected to a frame, and the frame is provided with at least two along the travel direction of the vehicle body and spans the track assembly; the walking components are grouped into two and are respectively connected to both sides of the frame.

[0011] A walking device provided according to the present invention further includes a driving assembly for driving the pulley mechanism to walk along the track assembly, and the driving assembly includes: A driving motor, fixedly connected to the vehicle body; A rack is laid along an extension path of the track assembly; A gear is transmission-connected to the output end of the driving motor and meshes with the rack.

[0012] According to a walking device provided by the present invention, the rack is fixedly connected to the main body track.

[0013] A walking device provided according to the present invention further includes a guide assembly for constraining the moving direction of the pulley mechanism, and the guide assembly includes: A guide groove is provided on the main body track and extends along the path of the main body track; The guide wheel is rotatably connected to the bottom of the vehicle body and its axis is perpendicular to the bottom surface of the guide groove. The guide wheel is embedded in the guide groove and is in rolling contact with the side wall of the guide groove.

[0014] The present invention also provides a drilling table manipulator, comprising a manipulator body and any one of the above-mentioned walking devices; the manipulator body is fixedly connected to the vehicle body; The track assembly includes a storage section and a working section which are vertically arranged in the same plane, and the turning section which is used to connect the storage section and the working section.

[0015] According to a drilling floor manipulator provided by the present invention, the track assembly is detachably connected to the drilling floor through a connecting assembly, and the connecting assembly includes: A positioning block is fixedly connected to the drilling table, a positioning portion is convexly provided on the upper surface of the positioning block, a connecting portion is provided on the track assembly, an engaging groove is provided on the connecting portion, and the positioning portion is engaged with the engaging groove; The connecting structure is used for detachably connecting the positioning block and the connecting part.

[0016] According to a drilling floor manipulator provided by the present invention, the connection structure comprises: A slide groove is provided in the positioning block, wherein the slide groove is provided with an end opening and an upper opening penetrating through the upper surface of the positioning portion; A pressing plate, used to cooperate with the upper surface of the positioning block to press the connecting portion; A slider, slidably embedded in the slide groove; A bolt has one end fixedly connected to the slider, and the other end passes through the upper opening of the slide slot and the pressure plate in sequence and is locked by a nut.

[0017] In the walking device and drilling table manipulator provided by the present invention, when the pulley mechanism travels to the turning section, the anti-tipping wheel first contacts the rotating guide plate, and drives the walking assembly to swing under the resistance of the rotating guide plate to achieve steering, and at the same time, the pulley mechanism moves along the turning section under the positioning guidance of the positioning wheel, and finally drives out of the turning section and travels in a straight line under the positioning guidance of the positioning wheel. Compared with the related art, the walking device provided by the embodiment of the present invention adopts a combination of load-bearing wheels, anti-tipping wheels and positioning wheels for positioning, and the load-bearing wheels and anti-tipping wheels are arranged horizontally, thereby avoiding the side force of the track assembly, eliminating the rim structure, and using the anti-tipping wheel to resist the rotating guide plate for steering and using the positioning wheel for constraint and guidance, so that the rolling friction steering replaces the extrusion steering of the traditional rim structure, effectively avoiding the extrusion wear during the steering process, and improving the stability and service life of the pulley mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 This is one of the structural schematic diagrams of the cooperation between the pulley mechanism and the track assembly provided in the embodiment of the present invention.

[0020] Figure 2This is the second structural schematic diagram of the cooperation between the pulley mechanism and the track assembly provided in the embodiment of the present invention.

[0021] Figure 3 This is the third structural schematic diagram of the cooperation between the pulley mechanism and the track assembly provided in the embodiment of the present invention.

[0022] Figure 4 It is a schematic structural diagram of a track assembly provided in an embodiment of the present invention.

[0023] Figure 5 It is one of the structural schematic diagrams of the pulley mechanism provided by the embodiment of the present invention.

[0024] Figure 6 This is the second structural schematic diagram of the pulley mechanism provided by the embodiment of the present invention.

[0025] Figure 7 It is a schematic diagram of the structure of a connection component provided in an embodiment of the present invention.

[0026] Reference numerals: 10. Track assembly; 100. Main track; 101. Load-bearing track; 102. Anti-overturning track; 103. Rotating guide plate; 104. Connecting part; 11. Turning section; 12. Storage section; 13. Working section; 20. Pulley mechanism; 21. Vehicle body; 210. Vehicle frame; 22. Traveling assembly; 220. Load-bearing wheel; 221. Anti-overturning wheel; 222. Positioning wheel; 223. Wheel frame; 23. Driving assembly; 231. Gear; 232. Rack; 24. Guide assembly; 240. Guide wheel; 241. Guide groove; 30. Connecting assembly; 31. Positioning block; 310. Positioning part; 32. Connecting structure; 320. Slide groove; 321. Press plate; 322. Sliding block; 323. Bolt; 324. Nut. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] In order to better understand the walking device and the drilling table manipulator provided in the embodiments of the present invention, their application background is first introduced. The drilling table manipulator is an automated equipment specially designed to assist drilling operations, and is mainly used for the transportation, connection and disassembly of drill rods. It is roughly composed of three main parts: a track, a pulley mechanism and a manipulator. In actual work, in order to avoid interference between the manipulator and equipment such as a power catwalk, the track is usually set to an L shape to provide an avoidance interval. Therefore, the pulley mechanism often needs to face the problem of turning during movement.

[0029] In the related art, a wheel rim is generally arranged on the outside of the load-bearing wheel, and the wheel rim is used to squeeze the outer edge of the track to achieve turning. However, the above turning method will cause serious wear of the track and the load-bearing wheel, and the steering flexibility is insufficient, and it is easy to get stuck.

[0030] In view of the above technical problems, the present invention provides a walking device and a drilling table manipulator, which can reduce the wear during the turning process and improve the operation stability and service life.

[0031] Combine the following Figure 1-Figure 7 The present invention describes a walking device and a drilling table manipulator.

[0032] Reference Figures 1 to 4 A walking device includes a track assembly 10 and a pulley mechanism 20; wherein the track assembly 10 includes a main track 100, a load-bearing track 101 and an anti-rollover track 102 arranged outside the main track 100, and the anti-rollover track 102 is arranged above the inner side of the load-bearing track 101; the track assembly 10 is provided with an arc-shaped turning section 11; the pulley mechanism 20 includes a vehicle body 21 and a plurality of walking components 22 rotatably connected to the bottom of the vehicle body 21; the walking component 22 includes a load-bearing Wheel 220, anti-tipping wheel 221 and positioning wheel 222, wherein the load-bearing wheel 220 cooperates with the load-bearing track 101, the anti-tipping wheel 221 cooperates with the bottom of the anti-tipping track 102, and the positioning wheel 222 is in rolling contact with the side of the anti-tipping track 102; the track assembly 10 is provided with a rotating guide plate 103 laid along the turning section 11, and the rotating guide plate 103 is located on the inner side of the anti-tipping wheel 221, and is used to contact with the anti-tipping wheel 221 to drive the walking component 22 to turn.

[0033] In actual work, the pulley mechanism 20 cooperates with the track assembly 10 and moves on the track assembly 10 to realize the transportation of the drill rod; wherein, the load-bearing wheel 220 of the pulley mechanism 20 is supported on the load-bearing track 101, and mainly plays the role of supporting and bearing the load; the anti-tipping wheel 221 cooperates with the bottom of the anti-tipping track 102 to position the pulley mechanism 20 up and down to prevent the pulley mechanism 20 from tipping over; the positioning wheel 222 is in rolling contact with the side of the anti-tipping track 102, and is used to laterally position and guide the movement of the pulley mechanism 20; under the joint action of the load-bearing wheel 220, the anti-tipping wheel 221 and the positioning wheel 222, the movement of the pulley mechanism 20 can be constrained to prevent the pulley mechanism 20 from detaching from the guide rail assembly.

[0034] When the pulley mechanism 20 travels to the turning section 11, the anti-tipping wheel 221 first contacts the rotating guide plate 103, and drives the walking assembly 22 to swing and turn under the resistance of the rotating guide plate 103. At the same time, under the positioning guidance of the positioning wheel 222, the pulley mechanism 20 moves along the turning section 11, and finally drives out of the turning section 11 and travels in a straight line under the positioning guidance of the positioning wheel 222.

[0035] Compared with the related art, the walking device provided in the embodiment of the present invention adopts a combination of load-bearing wheels 220, anti-tipping wheels 221 and positioning wheels 222 for positioning. The load-bearing wheels 220 and the anti-tipping wheels 221 are arranged horizontally, thereby avoiding the side force of the track assembly 10; the rim structure is eliminated, and the anti-tipping wheels 221 are used to contact with the rotating guide plate 103 for steering, and the positioning wheels 222 are used for constraint and guidance, so that the extrusion steering of the traditional rim structure is replaced by rolling friction steering, which effectively avoids extrusion wear during the steering process and improves the stability and service life of the pulley mechanism 20.

[0036] In some optional embodiments, the specific dimensions of the track assembly 10 and the pulley mechanism 20, as well as the specific materials and other parameters of each component in the track assembly 10 and the pulley mechanism 20 can be flexibly designed according to actual working conditions, and are not specifically limited in the embodiments of the present invention.

[0037] In one embodiment of the present invention, referring to Figure 4 and Figure 5In order to ensure the smoothness and stability of the turning of the pulley mechanism 20, the edge of the anti-tipping wheel 221 is set to be rounded, and the two ends of the rotating guide plate 103 are set to be inclined surfaces inclined toward the inner side of the turning section 11. In actual work, when the pulley mechanism 20 travels to the turning section 11, the edge of the anti-tipping wheel 221 first contacts the end of the rotating guide plate 103. Since the edge of the anti-tipping wheel 221 is rounded and the end of the rotating guide plate 103 is an inclined surface, the anti-tipping wheel 221 can be smoothly guided to the inner side of the rotating guide plate 103, effectively reducing the collision wear between the anti-tipping wheel 221 and the rotating guide plate 103.

[0038] In some optional embodiments, the material of the rotating guide plate 103 can be flexibly configured according to actual needs, for example, metal material or non-metal material can be used. In order to reduce the collision and wear between the anti-tipping wheel 221 and the rotating guide plate 103, the rotating guide plate 103 in this embodiment is made of non-metallic material, for example, plastic or composite materials that meet the required strength and wear resistance can be used.

[0039] In one embodiment of the present invention, in order to ensure the carrying capacity of the pulley mechanism 20, in each walking assembly 22, at least two load-bearing wheels 220 are arranged at intervals along the traveling direction of the vehicle body 21. Similarly, at least two anti-tipping wheels 221 are arranged at intervals along the traveling direction of the vehicle body 21, and the load-bearing wheels 220 and the anti-tipping wheels 221 are arranged one by one in the axial direction.

[0040] The specific arrangement quantity of the load-bearing wheels 220 and the anti-tipping wheels 221 can be designed according to the actual load-bearing requirements. In this embodiment, each walking component 22 has two load-bearing wheels 220 and two anti-tipping wheels 221 .

[0041] In one embodiment of the present invention, referring to Figure 5 and Figure 6 In order to facilitate the installation of each roller in the walking component 22, the walking component 22 also includes a wheel frame 223, and the load-bearing wheel 220 and the anti-tipping wheel 221 are rotatably connected to the wheel frame 223 through the wheel axle, and the corresponding load-bearing wheel 220 and the anti-tipping wheel 221 are coaxial. Taking the main track 100 as a reference, the anti-tipping wheel 221 is located on the inner side of the load-bearing wheel 220, so that when the load-bearing wheel 220 is supported on the load-bearing track 101, the anti-tipping wheel 221 can roll in contact with the bottom of the anti-tipping track 102.

[0042] The positioning wheel 222 is rotatably connected to the top of the wheel frame 223 via a wheel axle, and the axis of the positioning wheel 222 is perpendicular to the axes of the load-bearing wheel 220 and the anti-rollover wheel 221, so that when the pulley mechanism 20 moves on the track assembly 10, the positioning wheel 222 can roll in contact with the side of the anti-rollover track 102.

[0043] In one embodiment of the present invention, the bottom of the vehicle body 21 is rotatably connected to a frame 210, and at least two frames 210 are provided along the travel direction of the vehicle body 21, and the frames 210 span across the track assembly 10, and the traveling components 22 are grouped in pairs and respectively connected to both sides of the frames 210, thereby realizing the rotatable connection of the traveling components 22 at the bottom of the vehicle body 21.

[0044] Specifically, two frames 210 are arranged at intervals along the traveling direction of the vehicle body 21. The frames 210 and the vehicle body 21 can be rotatably connected through a bearing or through a rotating guide frame to improve the smoothness and stability of the rotation of the frames 210. The wheel frame 223 and the frame 210 can be connected by a pin shaft or other connecting members, which is not specifically limited in the embodiment of the present invention.

[0045] In order to facilitate driving the pulley mechanism 20 , in one embodiment of the present invention, the traveling device further includes a driving component 23 for driving the pulley mechanism 20 to travel along the track assembly 10 .

[0046] The specific structure or form of the driving assembly 23 can be flexibly designed according to actual needs. In one embodiment of the present invention, the driving assembly 23 includes a driving motor, a gear 231 and a rack 232; wherein the driving motor is fixedly connected to the vehicle body 21; the rack 232 is fixedly connected to the track assembly 10 and extends along the length direction of the track assembly 10; the gear 231 is drivingly connected to the output shaft of the driving motor and meshes with the rack 232. In actual operation, the driving motor drives the gear 231 to rotate, and the rotation of the gear 231 will drive the vehicle body 21 to move along the length direction of the rack 232, thereby realizing the driving of the pulley mechanism 20.

[0047] In one embodiment of the present invention, the drive motor and the vehicle body 21 can be connected by flanges, and the axis of the output shaft of the drive motor is perpendicular to the axes of the load-bearing wheel 220 and the anti-tipping wheel 221; the gear 231 is coaxially fixedly connected to the output shaft of the drive motor.

[0048] In one embodiment of the present invention, the rack 232 is fixedly connected to the main rail 100 .

[0049] In order to improve the smoothness and stability of the movement of the vehicle body 21 , in one embodiment of the present invention, the walking device further includes a guide assembly 24 for constraining the movement direction of the pulley mechanism 20 .

[0050] Specifically, the guide assembly 24 includes a guide wheel 240 and a guide groove 241; wherein the guide groove 241 is arranged on the main track 100 and extends along the path of the main track 100; the guide wheel 240 is rotatably connected to the bottom of the vehicle body 21 and its axis is perpendicular to the bottom surface of the guide groove 241, the guide wheel 240 is located on the center line of the vehicle body 21 along the width direction, and the guide wheel 240 is embedded in the guide groove 241 and in rolling contact with the side wall of the guide groove 241. In this way, when the pulley mechanism 20 moves on the track assembly 10, the guide wheel 240 can roll in the guide groove 241, thereby constraining and guiding the movement direction of the vehicle body 21, and improving the smoothness and stability of the movement of the pulley mechanism 20.

[0051] In one embodiment of the present invention, in order to ensure the structural strength of the track assembly 10 , the main track 100 , the load-bearing track 101 and the anti-overturning track 102 are integrally formed.

[0052] The drilling floor manipulator provided by the present invention is described below. The drilling floor manipulator described below and the walking device described above can be referred to each other.

[0053] Reference Figure 1 A drilling table manipulator includes a manipulator body and a walking device provided by any of the above embodiments; wherein the manipulator body is fixedly connected to a vehicle body 21, and a track assembly 10 includes a storage section 12 and a working section 13 vertically arranged in the same plane, and a turning section 11 for connecting the storage section 12 and the working section 13. When working, the walking device drives the manipulator body to move in the working section 13, and when it is necessary to avoid a power catwalk or other equipment, the walking device drives the manipulator body to move to the storage section 12 for avoidance.

[0054] In order to facilitate the installation of the track assembly 10 on the drilling floor, in one embodiment of the present invention, referring to Figure 7 The track assembly 10 is detachably connected to the drilling table through a connecting assembly 30.

[0055] Specifically, the connection assembly 30 includes a positioning block 31 and a connection structure 32; wherein the positioning block 31 is fixedly connected to the drilling table, a positioning portion 310 is convexly provided on the upper surface of the positioning block 31, a connecting portion 104 is provided on the track assembly 10, an engaging groove is provided on the connecting portion 104, and the positioning portion 310 engages with the engaging groove; the connection structure 32 is used for detachably connecting the positioning block 31 and the connecting portion 104. With such a configuration, when moving and disassembling, the positioning installation can be completed by simply engaging the positioning portion 310 on the upper surface of the positioning block 31 with the engaging groove on the track assembly 10, without the need for re-alignment, thereby improving the convenience of positioning and installation of the track assembly 10.

[0056] Specifically, the connecting structure 32 includes a slide groove 320, a pressure plate 321, a slider 322 and a bolt 323; wherein the slide groove 320 is opened on the positioning block 31, and the slide groove 320 is provided with an end opening and an upper opening penetrating the upper surface of the positioning portion 310; the pressure plate 321 is used to cooperate with the upper surface of the positioning block 31 to press the connecting portion 104; the slider 322 is slidably embedded in the slide groove 320; one end of the bolt 323 is fixedly connected to the slider 322, and the other end passes through the upper opening of the slide groove 320 and the pressure plate 321 in turn and is locked by the nut 324.

[0057] In actual application, when installing the track assembly 10, firstly, the positioning portion 310 on the upper surface of the positioning block 31 is engaged with the engaging groove on the track assembly 10 to achieve positioning, and then the slider 322 with the bolt 323 is inserted into the slide groove 320 from the end opening of the slide groove 320, and the bolt 323 is passed through the upper opening of the slide groove 320, and then the pressing plate 321 is installed, and the bolt 323 passes through the upper and lower surfaces of the pressing plate 321. The pressing plate 321 cooperates with the upper surface of the positioning block 31 to press the connecting portion 104, and then the nut 324 is screwed on the bolt 323 to achieve the connection of the track assembly 10. When disassembling the track assembly 10, it is only necessary to unscrew the nut 324 from the bolt 323, then remove the pressing plate 321, and then remove the slider 322 with the bolt 323 from the end opening of the slide groove 320, thereby improving the convenience of installing and disassembling the track assembly 10.

[0058] In one embodiment of the present invention, in order to improve the structural strength, the slider 322 and the bolt 323 are integrally formed.

[0059] In one embodiment of the present invention, according to different requirements, the track assembly 10 can be arranged in a sunken position or on a platform. When arranged in a sunken position, the upper plane of the track assembly 10 is flush with the drilling platform.

[0060] It is to be understood that, without mutual contradiction, those skilled in the art may combine and combine the different embodiments or examples and the features of the different embodiments or examples described in this specification.

[0061] With the walking device and drilling table manipulator provided by the embodiments of the present invention, the walking device is positioned by a combination of load-bearing wheels 220, anti-tipping wheels 221 and positioning wheels 222. The load-bearing wheels 220 and the anti-tipping wheels 221 are arranged horizontally, thereby avoiding the side force of the track assembly 10, eliminating the rim structure, and steering is performed by the anti-tipping wheels 221 and the rotating guide plate 103, and the positioning wheels 222 are used for constraint and guidance, thereby replacing the extrusion steering of the traditional rim structure with the rolling friction steering, effectively avoiding extrusion wear during the steering process, and improving the stability and service life of the pulley mechanism 20.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A walking device, characterized in that: include: A track assembly (10) comprises a main track (100), a load-bearing track (101) and an anti-rollover track (102) arranged outside the main track (100), wherein the anti-rollover track (102) is arranged above the inner side of the load-bearing track (101), and the track assembly (10) is formed with an arc-shaped turning section (11); The pulley mechanism (20) comprises a vehicle body (21) and a plurality of travel assemblies (22) rotatably connected to the bottom of the vehicle body (21); the travel assemblies (22) comprise load-bearing wheels (220), anti-tipping wheels (221) and positioning wheels (222); the load-bearing wheels (220) cooperate with the load-bearing track (101), the anti-tipping wheels (221) cooperate with the bottom of the anti-tipping track (102), and the positioning wheels (222) are in rolling contact with the side of the anti-tipping track (102); The track assembly (10) is provided with a rotating guide plate (103) laid along the turning section (11); the rotating guide plate (103) is located on the inner side of the anti-tipping wheel (221) and is used to contact the anti-tipping wheel (221) to drive the walking assembly (22) to turn.

2. The walking device according to claim 1, characterized in that: The edges of the anti-tipping wheel (221) are arranged to be rounded, and / or the two ends of the rotating guide plate (103) are arranged to be inclined surfaces inclined toward the inner side of the turning section (11).

3. The walking device according to claim 1, characterized in that: The walking assembly (22) further comprises a wheel frame (223), the load-bearing wheels (220) and the anti-tipping wheels (221) are rotatably connected to both sides of the wheel frame (223), and the positioning wheels (222) are rotatably connected to the top of the wheel frame (223).

4. The walking device according to claim 3, characterized in that: At least two of the load-bearing wheels (220) and the anti-tipping wheels (221) are arranged at intervals along the traveling direction of the vehicle body (21), and the load-bearing wheels (220) and the anti-tipping wheels (221) are arranged in a one-to-one correspondence in the axial direction.

5. The walking device according to claim 3, characterized in that: The bottom of the vehicle body (21) is rotatably connected to a vehicle frame (210), and at least two of the vehicle frames (210) are provided along the travel direction of the vehicle body (21) and straddle the track assembly (10); the walking components (22) are grouped in two and are respectively connected to two sides of the vehicle frame (210).

6. The walking device according to any one of claims 1 to 5, characterized in that: It also includes a driving assembly (23) for driving the pulley mechanism (20) to move along the track assembly (10), and the driving assembly (23) includes: A driving motor fixedly connected to the vehicle body (21); A rack (232) is laid along an extension path of the track assembly (10); A gear (231) is drivingly connected to the output end of the driving motor and meshes with the rack (232).

7. The walking device according to claim 6, characterized in that: It also includes a guide assembly (24) for constraining the movement direction of the pulley mechanism (20), and the guide assembly (24) includes: A guide groove (241) is provided on the main body track (100) and extends along the path of the main body track (100); The guide wheel (240) is rotatably connected to the bottom of the vehicle body (21) and its axis is perpendicular to the bottom surface of the guide groove (241). The guide wheel (240) is embedded in the guide groove (241) and is in rolling contact with the side wall of the guide groove (241).

8. A drilling table manipulator, characterized in that: It comprises a manipulator body and a walking device as claimed in any one of claims 1 to 6; the manipulator body is fixedly connected to the vehicle body (21); The track assembly (10) comprises a storage section (12) and a working section (13) arranged vertically in the same plane, and a turning section (11) for connecting the storage section (12) and the working section (13).

9. The drilling floor manipulator according to claim 8, characterized in that: The track assembly (10) is detachably connected to the drilling floor via a connecting assembly (30), and the connecting assembly (30) comprises: A positioning block (31) is fixedly connected to the drilling table, a positioning portion (310) is convexly provided on the upper surface of the positioning block (31), a connecting portion (104) is provided on the track assembly (10), an engaging groove is provided on the connecting portion (104), and the positioning portion (310) is engaged with the engaging groove; A connecting structure (32) is used for detachably connecting the positioning block (31) and the connecting portion (104).

10. The drilling floor manipulator according to claim 9, characterized in that: The connecting structure (32) comprises: A slide groove (320) is provided in the positioning block (31), and the slide groove (320) is provided with an end opening and an upper opening penetrating the upper surface of the positioning portion (310); A pressing plate (321) for cooperating with the upper surface of the positioning block (31) to press the connecting portion (104); A slider (322) slidably embedded in the slide groove (320); A bolt (323) has one end fixedly connected to the slider (322), and the other end passes through the upper opening and the pressing plate (321) in sequence and is locked by a nut (324).

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